Vehicular driving assist system with collision avoidance
A vehicular vision system includes a front camera disposed at a windshield of a vehicle equipped with the system and a side camera disposed at a side mirror of the vehicle. An electronic control unit (ECU) includes an image processor for processing image data captured by the cameras. The vehicular vision system, responsive to processing by the image processor of image data captured by the front camera, detects a leading vehicle traveling in front of the equipped vehicle in a traffic lane the equipped vehicle is also traveling along. The vehicular vision system, responsive to determination of an intent of the equipped vehicle to change lanes and to processing by the image processor of image data captured by the side camera, detects an oncoming vehicle traveling in a traffic lane adjacent to the traffic lane the equipped vehicle is traveling along.
1. A vehicular vision system, the vehicular vision system comprising:
a front camera disposed at a windshield of a vehicle equipped with the vehicular vision system and viewing at least forward of the equipped vehicle through the windshield, the front camera capturing image data;
a side camera disposed at a side mirror of the equipped vehicle and viewing at least forward and sideward of the equipped vehicle, the side camera capturing image data;
wherein the front camera comprises a CMOS imaging array, and wherein the CMOS imaging array of the front camera comprises at least one million photosensors arranged in rows and columns;
wherein the side camera comprises a CMOS imaging array, and wherein the CMOS imaging array of the side camera comprises at least one million photosensors arranged in rows and columns;
an electronic control unit (ECU) comprising electronic circuitry and associated software;
wherein the electronic circuitry of the ECU comprises an image processor for processing image data captured by the front camera and image data captured by the side camera;
wherein the vehicular vision system, via processing at the ECU of image data captured by the front camera, determines a traffic lane along which the equipped vehicle is traveling;
wherein the vehicular vision system detects a leading vehicle traveling in front of the equipped vehicle in the traffic lane along which the equipped vehicle is traveling; and
wherein, responsive to determination of an intent of the equipped vehicle to change from the traffic lane along which the equipped vehicle is traveling to an adjacent traffic lane that is adjacent to the traffic lane along which the equipped vehicle is traveling, the vehicular vision system, via processing at the ECU of image data captured by the side camera, detects an oncoming vehicle traveling in the adjacent traffic lane.
2. The vehicular vision system of claim 1 , wherein the vehicular vision system, responsive to determining the intent to change from the traffic lane and detecting the oncoming vehicle, generates an alert to an operator of the equipped vehicle.
3. The vehicular vision system of claim 2 , wherein the alert comprises at least one selected from the group consisting of (i) a visual alert, (ii) an audible alert, and (iii) a haptic alert.
4. The vehicular vision system of claim 1 , wherein the vehicular vision system, responsive to detecting the leading vehicle and the oncoming vehicle, enables an active crash avoidance function.
5. The vehicular vision system of claim 4 , wherein the active crash avoidance function comprises at least one selected from the group consisting of (i) restricting steering of the equipped vehicle, (ii) restricting a speed of the equipped vehicle, (iii) restricting an acceleration of the equipped vehicle, (iv) prefilling a brake of the equipped vehicle, and (v) tensioning a seat belt of the equipped vehicle.
6. The vehicular vision system of claim 4 , wherein the vehicular vision system, responsive to determining that the oncoming vehicle has passed the equipped vehicle, disables the active crash avoidance function.
7. The vehicular vision system of claim 4 , wherein the vehicular vision system enables the active crash avoidance function responsive to determining that a likelihood of a collision between the equipped vehicle and the oncoming vehicle is greater than a threshold.
8. The vehicular vision system of claim 1 , comprising a radar sensor disposed at a bumper of the equipped vehicle.
9. The vehicular vision system of claim 8 , wherein the vehicular vision system detects the oncoming vehicle via processing of sensor data captured by the radar sensor.
10. The vehicular vision system of claim 1 , wherein the vehicular vision system determines the intent to change from the traffic lane based on at least one selected from the group consisting of (i) an acceleration of the equipped vehicle, (ii) a turn signal of the equipped vehicle, and (iii) a lateral movement of the equipped vehicle.
11. The vehicular vision system of claim 1 , wherein the vehicular vision system detects the oncoming vehicle at least in part via processing of lidar data captured by at least one lidar sensor of the equipped vehicle.
12. The vehicular vision system of claim 1 , wherein the vehicular vision system detects the leading vehicle at least in part via processing of radar data captured by at least one radar sensor of the equipped vehicle.
13. A vehicular vision system, the vehicular vision system comprising:
a front camera disposed at a windshield of a vehicle equipped with the vehicular vision system and viewing at least forward of the equipped vehicle through the windshield, the front camera capturing image data;
a side camera disposed at a side mirror of the equipped vehicle and viewing at least forward and sideward of the equipped vehicle, the side camera capturing image data;
wherein the front camera comprises a CMOS imaging array, and wherein the CMOS imaging array of the front camera comprises at least one million photosensors arranged in rows and columns;
wherein the side camera comprises a CMOS imaging array, and wherein the CMOS imaging array of the side camera comprises at least one million photosensors arranged in rows and columns;
an electronic control unit (ECU) comprising electronic circuitry and associated software;
wherein the electronic circuitry of the ECU comprises an image processor for processing image data captured by the front camera and image data captured by the side camera;
wherein the vehicular vision system, via processing at the ECU of image data captured by the front camera, determines a traffic lane along which the equipped vehicle is traveling;
wherein the vehicular vision system detects a leading vehicle traveling in front of the equipped vehicle in the traffic lane along which the equipped vehicle is traveling;
wherein, responsive to determination of an intent of the equipped vehicle to change from the traffic lane along which the equipped vehicle is traveling to an adjacent traffic lane that is adjacent to the traffic lane along which the equipped vehicle is traveling, the vehicular vision system, via processing at the ECU of image data captured by the side camera, detects an oncoming vehicle traveling in the adjacent traffic lane;
wherein the vehicular vision system determines the intent to change from the traffic lane based on at least one selected from the group consisting of (i) an acceleration of the equipped vehicle, (ii) a turn signal of the equipped vehicle, and (iii) a lateral movement of the equipped vehicle; and
wherein the vehicular vision system, responsive to determining the intent to change from the traffic lane and detecting the oncoming vehicle, generates an alert to an operator of the equipped vehicle.
14. The vehicular vision system of claim 13 , wherein the alert comprises at least one selected from the group consisting of (i) a visual alert, (ii) an audible alert, and (iii) a haptic alert.
15. The vehicular vision system of claim 13 , comprising a radar sensor disposed at a bumper of the equipped vehicle.
16. The vehicular vision system of claim 15 , wherein the vehicular vision system detects the oncoming vehicle via processing of sensor data captured by the radar sensor.
17. A vehicular vision system, the vehicular vision system comprising:
a front camera disposed at a windshield of a vehicle equipped with the vehicular vision system and viewing at least forward of the equipped vehicle through the windshield, the front camera capturing image data;
a side camera disposed at a side mirror of the equipped vehicle and viewing at least forward and sideward of the equipped vehicle, the side camera capturing image data;
wherein the front camera comprises a CMOS imaging array, and wherein the CMOS imaging array of the front camera comprises at least one million photosensors arranged in rows and columns;
wherein the side camera comprises a CMOS imaging array, and wherein the CMOS imaging array of the side camera comprises at least one million photosensors arranged in rows and columns;
an electronic control unit (ECU) comprising electronic circuitry and associated software;
wherein the electronic circuitry of the ECU comprises an image processor for processing image data captured by the front camera and image data captured by the side camera;
wherein the vehicular vision system, via processing at the ECU of image data captured by the front camera, determines a traffic lane along which the equipped vehicle is traveling;
wherein the vehicular vision system detects a leading vehicle traveling in front of the equipped vehicle in the traffic lane along which the equipped vehicle is traveling;
wherein, responsive to determination of an intent of the equipped vehicle to change from the traffic lane along which the equipped vehicle is traveling to an adjacent traffic lane that is adjacent to the traffic lane along which the equipped vehicle is traveling, the vehicular vision system, via processing at the ECU of image data captured by the side camera, detects an oncoming vehicle traveling in the adjacent traffic lane; and
wherein the vehicular vision system, responsive to determining the intent to change from the traffic lane and detecting the oncoming vehicle, controls at least one of (i) steering of the equipped vehicle to avoid the leading vehicle and the oncoming vehicle and (ii) braking of the equipped vehicle to avoid the leading vehicle and the oncoming vehicle.
18. The vehicular vision system of claim 17 , wherein the vehicular vision system, responsive to determining the intent to change from the traffic lane and detecting the oncoming vehicle, restricts acceleration of the equipped vehicle.
19. The vehicular vision system of claim 17 , wherein the vehicular vision system, responsive to determining that the oncoming vehicle has passed the equipped vehicle, ceases controlling the at least one of (i) steering of the equipped vehicle and (ii) braking of the equipped vehicle.
20. The vehicular vision system of claim 17 , wherein the vehicular vision system, responsive to determining the intent to change from the traffic lane and detecting the oncoming vehicle, generates an alert to an operator of the equipped vehicle.
21. The vehicular vision system of claim 17 , wherein the vehicular vision system determines the intent to change from the traffic lane based on at least one selected from the group consisting of (i) an acceleration of the equipped vehicle, (ii) a turn signal of the equipped vehicle, and (iii) a lateral movement of the equipped vehicle.